Related papers: Action Governor for Discrete-Time Linear Systems w…
In this paper we address the problem of continuous fine-grained action segmentation, in which multiple actions are present in an unsegmented video stream. The challenge for this task lies in the need to represent the hierarchical nature of…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
While the identification of nonlinear dynamical systems is a fundamental building block of model-based reinforcement learning and feedback control, its sample complexity is only understood for systems that either have discrete states and…
This paper studies a deep deterministic policy gradient (DDPG) based actor critic (AC) reinforcement learning (RL) technique to control a linear discrete-time system with a quadratic control cost while ensuring a constraint on the…
The wide applications of Generative adversarial networks benefit from the successful training methods, guaranteeing that an object function converges to the local minima. Nevertheless, designing an efficient and competitive training method…
A hybrid integrator-gain system (HIGS) is a control element that switches between an integrator and a gain, which overcomes some inherent limitations of linear controllers. In this paper, we consider using discrete-time HIGS controllers for…
Resilience to damage, component degradation, and adversarial action is a critical consideration in design of autonomous systems. In addition to designing strategies that seek to prevent such negative events, it is vital that an autonomous…
In dynamic mechanism design literature, one critical aspect has been typically ignored-the agents' periodic participation, which they can adapt and plan strategically. We propose a framework for dynamic principal-multiagent problems,…
Active inference introduces a theory describing action-perception loops via the minimisation of variational (and expected) free energy or, under simplifying assumptions, (weighted) prediction error. Recently, active inference has been…
In temporal extensions of Answer Set Programming (ASP) based on linear-time, the behavior of dynamic systems is captured by sequences of states. While this representation reflects their relative order, it abstracts away the specific times…
This paper provides a novel approach for finding sparse state-space realizations of linear systems (e.g., controllers). Sparse controllers are commonly used in distributed control, where a controller is synthesized with some sparsity…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
Due to its design simplicity, auxiliary layer-based resilient control is widely discussed in the literature to mitigate the effects of False Data Injection (FDI) attacks. However, the increased communication burden due to additional…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
This paper presents a novel distributed active set method for model predictive control of linear systems. The method combines a primal active set strategy with a decentralized conjugate gradient method to solve convex quadratic programs. An…
We propose a calibrated two-dimensional cellular automaton model to simulate pedestrian motion behavior. It is a v=4 (3) model with exclusion statistics and random shuffled dynamics. The underlying regular grid structure results in a…
We address the problem of attack detection and isolation for a class of discrete-time nonlinear systems under (potentially unbounded) sensor attacks and measurement noise. We consider the case when a subset of sensors is subject to additive…
We study synchronization of heterogeneous control-affine nonlinear agents interconnected through diffusive (relative-output) measurements. We separate the design into an edge-space step, specifying a stabilizing model evolution for relative…
This paper proposes a continuous-time dynamic active weighted average consensus algorithm in which the agents can alternate between active and passive modes depending on their ability to access to their reference input. The objective is to…
This letter presents a constrained control framework that integrates Explicit Reference Governors (ERG) with Control Barrier Functions (CBF) to ensure recursive feasibility without online optimization. We formulate the reference update as a…